2016
DOI: 10.1177/1729881416669349
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Abstract: In the domain of modular self-reconfigurable robotic systems, self-reconfiguration is known to be a highly challenging task. This article presents a novel algorithm for distributed self-reconfiguration by combining cellular automata and L-systems. Cellular automata is used to handle the relative motion planning of decentralized modules. L-systems are introduced to provide a topological description for the target configuration. The turtle interpretation is extended to modular robotics to generate local predicti… Show more

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Cited by 7 publications
(5 citation statements)
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References 49 publications
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“…A metamorphic walking robot that can self-reconfigure its shape for adapting to different tasks and environments is proposed by Tang et al (2017). Similar to hybrid-type structured SRMRs, Tang et al The hybrid-type structural formation has been more popular in recent years (Bie et al, 2016;Pfotzer et al, 2014;Reddy et al, 2017;T. Zhang et al, 2015).…”
Section: Hybrid Typementioning
confidence: 99%
See 1 more Smart Citation
“…A metamorphic walking robot that can self-reconfigure its shape for adapting to different tasks and environments is proposed by Tang et al (2017). Similar to hybrid-type structured SRMRs, Tang et al The hybrid-type structural formation has been more popular in recent years (Bie et al, 2016;Pfotzer et al, 2014;Reddy et al, 2017;T. Zhang et al, 2015).…”
Section: Hybrid Typementioning
confidence: 99%
“…The hybrid‐type structural formation has been more popular in recent years (Bie et al, 2016; Pfotzer et al, 2014; Reddy et al, 2017; T. Zhang et al, 2015). This shows us that the trend in combining some basic functions to enhance the outcomes of proposed SRMRs is an attracting idea and more prototypes of the hybrid type seen soon.…”
Section: Mechanical Design Aspects and Future Directionsmentioning
confidence: 99%
“…Some simple descriptions using the extended parametric symbol and corresponding structures are shown in Figure 4. More details about the extended L-systems and turtle interpretation can be found in the studies by Zhu et al 28 and Bie et al 29…”
Section: Parametric Symbols For Robotic Structurementioning
confidence: 99%
“…For the reason of conflict between convergence and environmental adaption of reconfiguration process, L-systems 27 are introduced in this article to make it possible to interact with environments and converge to predefined structure. L-systems have proven to be a convergent 28 and practical method 29 for distributed self-reconfiguration of modular robots.…”
Section: Introductionmentioning
confidence: 99%
“…There are several categories of hardware architecture for MSR robotic modules, such as lattice architecture (see, e.g., [22,28]), mobile architecture (e.g., [17,27,33]), chain architecture (e.g., [2,29]) and hybrid architecture (e.g., [6,31,35]). For the regular geometric organization, lattice architecture is the most convenient for computer modeling among all those architectures.…”
Section: Msr Robotsmentioning
confidence: 99%